Virtual World (also SDF definition with environment, models and actors…)

Probably it is best to start with trying to understand SDF of current models, refer and look through current models such as iris, zephyr and so on.
Models can be nested.

Once you understand such, It would be much easier converting VTOL models of PX4_sitl to ArduPilot model with your understanding of SDF of ArduPilot models

After that, you will need default param for quadplane (contents are not much important, basic definition of airframe and IMU setup is enough)
and edit sim_vehicle.py file for start simulation with default params(which is SITL launch file of ArduPilot)

Thank you for your reply. I will go through and try creating a model (SDF file). I added the quadplane information in Tools/autotest/pysim/vehicleinfo.py. Is there a need to change sim_vehicle.py? I was under the impression that no change to sim_vehicle.py is required.

I don’t know how it is actually working under the ArduPilot SITL
but I got the impression that ArduPilot SITL automatically parsing prefix gazebo
to connect to gazebo interface
same param file without gazebo prefix does not connect to gazebo-SITL
such as
sim_vehicle.py -v ArduCopter -f gazebo-iris
sim_vehicle.py -v ArduPlane -f gazebo-zephyr
these are valid to launch gazebo SITL

you may not need another param file but will need a launch argument
such as gazebo-quadplane
there are bunch of code to add launch arguments in the middle of sim_vehicle.py script.
Add one if you need

Hi, We’re trying to setup a simulation of a quadplane in Gazebo. I’ve added an entry in vehicleInfo.py, I’ve created a .parm file with INS calibration and I have a quadplane model with the ArduPilotPlugin which connects to the ArduPlane SITL.

The problem I’m facing now, is that the moment ArduPlane connects to Gazebo, it starts sending motor commands to the rotors, even though the UAV is disarmed, so the rotors are spinning (albeit slowly). When trying to fly a mission the UAV arms but the rotors do not increase in speed. I am thinking I might have to map the servos correctly, but is there an overview of which output channels are default for a quadplane setup in SITL?